Sierra Auto

src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Zero Encoder"
+          }
+        },
         {
           "type": "named",
           "data": {

src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Zero Encoder"
+          }
+        },
         {
           "type": "named",
           "data": {

src/main/deploy/pathplanner/autos/X. Sierra.auto

@@ -0,0 +1,99 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Zero Encoder"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Reference"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "SierraOne"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Labubu Growl"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SierraTwo"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PlayerStation-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/SierraOne.path

@@ -0,0 +1,163 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6070897435897447,
+        "y": 0.6046794871794885
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.115752584653353,
+        "y": 0.5635297641960387
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.470976190476191,
+        "y": 0.9884102564102579
+      },
+      "prevControl": {
+        "x": 7.2683607377306005,
+        "y": 0.7987129676949314
+      },
+      "nextControl": {
+        "x": 7.845328732990856,
+        "y": 1.3388951842695742
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.595564102564104,
+        "y": 3.3979404761904766
+      },
+      "prevControl": {
+        "x": 7.578725039048031,
+        "y": 3.6473727233837807
+      },
+      "nextControl": {
+        "x": 7.645039325071269,
+        "y": 2.665078110146699
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.3306071428571435,
+        "y": 0.9884102564102579
+      },
+      "prevControl": {
+        "x": 7.602572796768329,
+        "y": 1.2858726903756175
+      },
+      "nextControl": {
+        "x": 6.958504578754579,
+        "y": 0.5814230769230777
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.712,
+        "y": 0.6046794871794885
+      },
+      "prevControl": {
+        "x": 3.997989714851531,
+        "y": 0.6083696770485412
+      },
+      "nextControl": {
+        "x": 3.4545183150183143,
+        "y": 0.6013571428571436
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.472,
+        "y": 0.6046794871794885
+      },
+      "prevControl": {
+        "x": 2.721109806922687,
+        "y": 0.6257580093037158
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 1.255583126550872,
+      "maxWaypointRelativePos": 1.7617866004962806,
+      "constraints": {
+        "maxVelocity": 1.2,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 600.0,
+        "maxAngularAcceleration": 750.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 7.0,
+        "y": 8.0
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 1.3067552602436252,
+      "maxWaypointRelativePos": 2.015503875969026,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.6
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.6910299003322272,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.7
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 2.5913621262458837,
+      "maxWaypointRelativePos": 5.0,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 12.0,
+    "unlimited": true
+  },
+  "goalEndState": {
+    "velocity": 3.0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/SierraTwo.path

@@ -0,0 +1,95 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.472,
+        "y": 0.605
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2708330107691865,
+        "y": 0.7534312717853275
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.5754761904761914,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 2.2272563574654534,
+        "y": 0.9727386663284083
+      },
+      "nextControl": {
+        "x": 0.9236960234869294,
+        "y": 1.0272613336715914
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.325,
+        "y": 0.95
+      },
+      "prevControl": {
+        "x": 0.5747421350529089,
+        "y": 0.9386480847776856
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 600.0,
+        "maxAngularAcceleration": 750.0,
+        "nominalVoltage": 10.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.7
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.6,
+      "maxWaypointRelativePos": 1.0956834532374118,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": -95.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 3.0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc4388/robot/RobotContainer.java

@@ -145,6 +145,9 @@ public class RobotContainer {
         private Command WaitIntakeReference =
             new WaitUntilCommand(m_robotIntake::intakeAtReference);
 
+        private Command ZeroEncoder =
+            new InstantCommand(() -> m_robotIntake.io.fixEncoder(), m_robotIntake);
+
         private Command RobotShootDriving = new SequentialCommandGroup(
             new RunCommand(() -> 
                 m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION, ShooterConstants.AIM_LEAD_TIME.get(), FieldPositions.HUB_POSITION)
@@ -163,9 +166,9 @@ public class RobotContainer {
             new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
             new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
             new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
-            new WaitCommand(2.75),
+            new WaitCommand(3.5),
             IntakeRetracted,
-            new WaitCommand(4.4),
+            new WaitCommand(5),
             new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
             new InstantCommand(()-> m_robotShooter.spinUpIdle(), m_robotShooter)
         );
@@ -191,6 +194,7 @@ public class RobotContainer {
             }, true);
     
             NamedCommands.registerCommand("Robot Rev Up", RobotRev);
+            NamedCommands.registerCommand("Zero Encoder", ZeroEncoder);
             NamedCommands.registerCommand("Intake Retracted", IntakeRetracted);
             NamedCommands.registerCommand("Robot Shoot", RobotShoot);
             // NamedCommands.registerCommand("Lidar Intake", LidarIntake);

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 238;
+  public static final int GIT_REVISION = 239;
-  public static final String GIT_SHA = "e175ca49a34bea824ae7598a8cc54e22f060c4c2";
+  public static final String GIT_SHA = "4d732970da558d90c4be1787635dc5786674bd27";
-  public static final String GIT_DATE = "2026-04-10 13:20:37 MDT";
+  public static final String GIT_DATE = "2026-04-10 13:59:21 MDT";
   public static final String GIT_BRANCH = "Encoder-Fix";
-  public static final String BUILD_DATE = "2026-04-10 13:43:28 MDT";
+  public static final String BUILD_DATE = "2026-04-10 14:33:17 MDT";
-  public static final long BUILD_UNIX_TIME = 1775850208266L;
+  public static final long BUILD_UNIX_TIME = 1775853197175L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}